Skip to content

Simulation Configuration

Jump to bottom
gtrabes edited this page Jul 23, 2019 · 7 revisions

The SAVI simulation uses a configuration file, called config.cfg, to define some of the properties of the environment. An example of config.cfg is provided below. An explanation of these properties is provided at the end of the file.

NUMBER_THREATS = 15
X_PIXELS = 991
Y_PIXELS = 740
FRAME_RATE = 150
MAX_SPEED = 0.15
UGV_PERCEPTION_DISTANCE = 200
UAV_PERCEPTION_DISTANCE = 500
WIFI_PERCEPTION_DISTANCE = 500
NUMBER_UGV = 1
NUMBER_UAV = 1
RANDOM_SEED = 776
REASONING_CYCLE_PERIOD = 5
TREE_SIZE = 50
HOUSE_SIZE = 15
THREAT_SIZE = 10
ANTENNA_SIZE = 26
UGV_SIZE = 26
UAV_SIZE = 26
SENSORS_ERROR_PROB = 0
SENSORS_ERROR_STD_DEV = 0
WIFI_ERROR_PROB = 0.0

Property definitions:

  • NUMBER_THREATS: Number of threat actors in the simulation
  • X_PIXELS: Width of the map in pixels
  • Y_PIXELS: Height of the map in pixels
  • FRAME_RATE: Frame rate of the simulation
  • MAX_SPEED: Maximum speed of moving objects
  • UGV_PERCEPTION_DISTANCE: Maximum distance that UGVs can perceive using their camera
  • UAV_PERCEPTION_DISTANCE: Maximum distance that UAVs can perceive using their camera
  • WIFI_PERCEPTION_DISTANCE: Maximum distance that wifi communication can propogate
  • NUMBER_UGV: Number of UGV (Unmanned Ground Vehicle) agents in the simulation.
  • NUMBER_UAV: Number of UAV (Unmanned Aerial Vehicle) agents in the simulation.
  • RANDOM_SEED: The random seed used for randomly generating the map. If the value is -1, the generation is random. Otherwise, the seed is used to generate all random values.
  • REASONING_CYCLE_PERIOD: The length of simulation time required for a reasoning cycle (not being used at the moment)
  • TREE_SIZE: Diameter of a tree (modelled as a sphere)
  • HOUSE_SIZE: Diameter of a house (modelled as a sphere)
  • THREAT_SIZE: Diameter of a threat (modelled as a sphere)
  • ANTENNA_SIZE: Diameter of the control antenna (modelled as a sphere)
  • UGV_SIZE: Diameter of the UGV (modelled as a sphere)
  • UAV_SIZE: Diameter of the UAV (modelled as a sphere)
  • SENSORS_ERROR_PROB : probability of a failure in a sensors
  • SENSORS_ERROR_STD_DEV : standard deviation to model a normal distribution for the sensors error value.
  • WIFI_ERROR_PROB : probability of an error in the sending of a wifi message.

The SAVI project - Carleton University, 2019.

Clone this wiki locally